Robotic gripper assemblies for openable object(s) and methods for picking objects

ABSTRACT

A system and method for operating a transfer robot to grasp and transfer objects is disclosed. The transport robot includes a robotic gripper assembly having an array of addressable vacuum regions each configured to independently provide a vacuum to grasp a target object. The gripper assembly can be configured and/or operated according to one or more physical characteristics of targeted objects and/or corresponding scenarios.

RELATED APPLICATION

This application is related to U.S. Patent Application No. 63/241,460,filed Sep. 7, 2021, entitled ROBOTIC GRIPPER ASSEMBLIES FOR OPENABLEOBJECT(S) AND METHODS FOR PICKING OBJECTS, which is incorporated hereinby reference in its entirety.

TECHNICAL FIELD

The present technology is directed generally to robotic systems and,more specifically, robotic gripper assemblies configured to selectivelygrip and hold openable objects.

BACKGROUND

Robots (e.g., machines configured to automatically/autonomously executephysical actions) are now extensively used in many fields. Robots, forexample, can be used to execute various tasks (e.g., manipulate ortransfer an object) in manufacturing, packaging, transport and/orshipping, etc. In executing the tasks, robots can replicate humanactions, thereby replacing or reducing human involvements that areotherwise required to perform dangerous or repetitive tasks. Robotsoften lack the sophistication necessary to duplicate human sensitivityand/or adaptability required for executing more complex tasks. Forexample, robots often have difficulty selectively gripping object(s)from a group of objects with immediately neighboring objects, as well asirregular shaped/sized objects, etc. Also, robots are often limited tograsping objects using force applied along one predetermined direction.Accordingly, there remains a need for improved robotic systems andtechniques for controlling and managing various aspects of the robots.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 illustrates an example environment in which a robotic systemtransports objects in accordance with one or more embodiments of thepresent technology.

FIG. 2 is a block diagram illustrating the robotic system in accordancewith one or more embodiments of the present technology.

FIG. 3A is a perspective view of an example target object in accordancewith one or more embodiments of the present technology.

FIG. 3B is a perspective view of an end effector, in accordance with oneor more embodiments of the present technology.

FIG. 4A illustrates a top view of the processing area for lifting targetobjects from a source container, in accordance with one or moreembodiments of the present technology.

FIG. 4B illustrates a side view of the processing area for liftingtarget objects from a source container, in accordance with one or moreembodiments of the present technology.

FIG. 4C illustrates a side view a robotic arm assembly gripping andlifting the target object in an example grip/lift configuration, inaccordance with one or more embodiments of the present technology.

FIG. 5 illustrates side view of example target objects with a griplocation with respect to contact between the gripper and the targetobject(s), in accordance with one or more embodiments of the presenttechnology.

FIG. 6 illustrates a perspective view of the robotic arm assemblygripping and lifting the target object in an example grip/liftconfiguration, in accordance with one or more embodiments of the presenttechnology.

FIG. 7 is a flow diagram for operating a robotic system in accordancewith one or more embodiments of the present technology.

DETAILED DESCRIPTION

Systems and methods for gripping selected or targeted objects aredescribed herein. The systems can include a transfer robot with gripperassemblies configured to be operated independently or in conjunction togrip/release a targeted set of one or more objects having lids that arefixed or openable/removable, such as boxes with removable lids. Thesystems can pick up multiple objects at the same time or sequentially.The system can select objects to be carried based upon, for example, thecarrying capability of the gripper assembly, a motion plan, orcombinations thereof. The gripper assembly can reliably grip objectsfrom a group of adjacently placed or abutting objects, a set ofirregular objects, a group of objects having unique shapes/sizes, etc.For example, the gripper assemblies can include addressable vacuumregions or banks each configured to draw in air such that selectedobjects are held via a vacuum grip. The gripper assembly can berobotically moved to transfer the grasped objects to a desired locationand then release the objects. The system can also release graspedobjects at the simultaneously or sequentially. This process can berepeated to transport any number of objects between different locations.Accordingly, the systems can derive access sequences, drop/releaseposes, and/or motion plans for transferring the one or more objects.

In some embodiments, the gripper assembly can include one or moresupport or peripheral vacuum regions surrounding a central vacuumregion. Each vacuum region can correspond to a set of one or moreinterface mechanisms (e.g., suction cups) configured to grip a targetobject. For example, the suction cups can protrude from an interfacesurface (e.g., a bottom portion) of the gripper assembly and can beindependently engaged according to the target object and/or otherenvironmental conditions. The gripper assembly may further include astabilizer bracket arranged and/or operable to contact the graspedobject and provide support that further complements the gripping force.

The gripper assembly can be configured and/or operated according to oneor more physical characteristics of targeted objects and/orcorresponding scenarios (e.g., source packing configurations). Forillustrative purposes, various embodiments of the gripper assembly andthe corresponding operating method are described below usingmanipulation of openable boxes or boxes having lids, such as for shoeboxes. However, it is understood that the gripper assembly and thecorresponding operations may be applicable to other objects that havefixed, removable, or movable lids (e.g., removably coupled lids,unfastened lids, hinged covers, flap, or the like).

At least some embodiments are directed to a method for operating atransport robot having a gripper assembly with addressable pick-upregions. The pick-up regions can be configured to independently providevacuum gripping and/or independently extendable/retractable along atleast one direction. Target object(s) are identified based on capturedimage data or scanning a code on the object. The pick-up regions candraw in air to grip the identified target object(s). In someembodiments, a transport robot to robotically move the gripper assembly,which is carrying the identified target objects.

In some embodiments, a robotic transport system includes a roboticapparatus, a target object detector, and a vacuum gripper device. Thevacuum gripper device includes a plurality of addressable regions and amanifold assembly. The manifold assembly can be fluidically coupled toeach of the addressable regions and to at least one vacuum line suchthat each addressable region is capable of independently providing anegative pressure via an array of suction elements. The negativepressure can be sufficient to hold at least one target object againstthe vacuum gripper device while the robotic apparatus moves the vacuumgripper device between different locations.

A method for operating a transport robot includes receiving image datarepresentative of a group of objects (e.g., a stack or pile of objects,or a container of objects). One or more target objects are identified inthe group based on the received image data. Addressable vacuum regionsare selected based on the identified one or more target objects. Theaddressable vacuum regions can be selected based on identifieddimensions of the objects, surface images of the objects, outline shapesof the objects, and/or the like. The transport robot is in command tocause the selected vacuum regions to hold and transport the identifiedone or more target objects. The transport robot includes a gripperassembly having an array of vacuum regions (or grippers) each configuredto independently provide vacuum gripping and each vacuum gripper isconfigured to independently extend from the gripper assembly. A visionsensor device can capture the image data, which is representative of thetarget objects adjacent to or held by the vacuum gripper device.

In the following, numerous specific details are set forth to provide athorough understanding of the presently disclosed technology. In otherembodiments, the techniques introduced here can be practiced withoutthese specific details. In other instances, well-known features, such asspecific functions or routines, are not described in detail in order toavoid unnecessarily obscuring the present disclosure. References in thisdescription to “an embodiment,” “one embodiment,” or the like mean thata particular feature, structure, material, or characteristic beingdescribed is included in at least one embodiment of the presentdisclosure. Thus, the appearances of such phrases in this specificationdo not necessarily all refer to the same embodiment. On the other hand,such references are not necessarily mutually exclusive either.Furthermore, the particular features, structures, materials, orcharacteristics can be combined in any suitable manner in one or moreembodiments. It is to be understood that the various embodiments shownin the figures are merely illustrative representations and are notnecessarily drawn to scale.

Several details describing structures or processes that are well-knownand often associated with robotic systems and subsystems, but that canunnecessarily obscure some significant aspects of the disclosedtechniques, are not set forth in the following description for purposesof clarity. Moreover, although the following disclosure sets forthseveral embodiments of different aspects of the present technology,several other embodiments can have different configurations or differentcomponents than those described in this section. Accordingly, thedisclosed techniques can have other embodiments with additional elementsor without several of the elements described below.

Many embodiments or aspects of the present disclosure described belowcan take the form of computer- or controller-executable instructions,including routines executed by a programmable computer or controller.Those skilled in the relevant art will appreciate that the disclosedtechniques can be practiced on computer or controller systems other thanthose shown and described below. The techniques described herein can beembodied in a special-purpose computer or data processor that isspecifically programmed, configured, or constructed to execute one ormore of the computer-executable instructions described below.Accordingly, the terms “computer” and “controller” as generally usedherein refer to any data processor and can include Internet appliancesand handheld devices (including palm-top computers, wearable computers,cellular or mobile phones, multi-processor systems, processor-based orprogrammable consumer electronics, network computers, mini computers,and the like). Information handled by these computers and controllerscan be presented at any suitable display medium, including a liquidcrystal display (LCD). Instructions for executing computer- orcontroller-executable tasks can be stored in or on any suitablecomputer-readable medium, including hardware, firmware, or a combinationof hardware and firmware. Instructions can be contained in any suitablememory device, including, for example, a flash drive, USB device, and/orother suitable medium, including a tangible, non-transientcomputer-readable medium.

The terms “coupled” and “connected,” along with their derivatives, canbe used herein to describe structural relationships between components.It should be understood that these terms are not intended as synonymsfor each other. Rather, in particular embodiments, “connected” can beused to indicate that two or more elements are in direct contact witheach other. Unless otherwise made apparent in the context, the term“coupled” can be used to indicate that two or more elements are ineither direct or indirect (with other intervening elements between them)contact with each other, or that the two or more elements co-operate orinteract with each other (e.g., as in a cause-and-effect relationship,such as for signal transmission/reception or for function calls), orboth.

Suitable Environments

FIG. 1 is an illustration of an example environment in which a roboticsystem 100 transports objects. The robotic system 100 can include anunloading unit 102, a transfer unit or assembly 104 (“transfer assembly104”), a transport unit 106, a loading unit 108, or a combinationthereof in a warehouse or a distribution/shipping hub. Each of the unitsof the robotic system 100 can be configured to execute one or moretasks. The tasks can be combined in sequence to perform an operationthat achieves a goal, such as to unload objects from a truck or a vanfor storage in a warehouse or to unload objects from storage locationsand load them onto a truck or a van for shipping. In another example,the task can include moving objects from one container to anothercontainer. Each of the units can be configured to execute a sequence ofactions (e.g., operating one or more components therein) to execute atask.

In some embodiments, the task can include manipulation (e.g., movingand/or reorienting) of a target object or package 112 (e.g., boxes,cases, cages, pallets, etc.) from a start location 114 to a tasklocation 116. For example, the unloading unit 102 (e.g., a devanningrobot) can be configured to transfer the target object 112 from alocation in a carrier (e.g., a truck) to a location on a conveyor belt.The transfer assembly 104 (e.g., a palletizing/picking robot assembly)can be configured to load packages 112 onto the transport unit 106 orconveyor 120. In another example, the transfer assembly 104 can beconfigured to transfer one or more target packages 112 from onecontainer to another container. The transfer assembly 104 can include arobotic end effector 140 (“end effector 140”) with vacuum grippers (orvacuum regions) each individually operated to pick up and carryobject(s) 112. When the end effector 140 is placed adjacent the one ormore target objects 112, air can be drawn into the gripper(s), therebycreating a pressure differential sufficient for gripping and retainingthe target objects. The target objects 112 can be picked up andtransported without damaging or marring the object surfaces. The numberof objects 112 carried at one time can be selected based upon stackingarrangements of objects at the pick-up location, available space at therelease location (e.g., drop off location), transport paths betweenpick-up and release locations, optimization routines (e.g., routines foroptimizing unit usage, robotic usage, etc.), combinations thereof, orthe like. The end effector 140 can have one or more sensors configuredto output readings indicating information about retained objects (e.g.,number and configurations of retained objects), relative positionsbetween any retained objects, or the like.

An imaging system 160 can provide image data used to monitor operationof components, identify target objects, track objects, or otherwiseperform tasks. The image data can be analyzed to evaluate, for example,package stacking/packing arrangements (e.g., stacked packages, such ascarboard boxes, packing containers, etc.), positional information ofobjects, available transport paths (e.g., transport paths between pickupzones and release zones), positional information about grippingassemblies, or combinations thereof. A controller 109 can communicatewith the imaging system 160 and other components of the robotic system100. The controller 109 can generate transport plans that include asequence for picking up and releasing objects (e.g., illustrated asstable containers), positioning information, order information forpicking up objects, order information for releasing objects, stackingplans (e.g., plans for stacking objects at the release zone),re-stacking plans (e.g., plans for re-stacking at least some of thecontainers at the pickup zone), or combinations thereof. The informationand instructions provided by transport plans can be selected based onthe arrangement of the containers, the contents of the containers, orcombinations thereof. In some embodiments, the controller 109 caninclude electronic/electrical devices, such as one or more processingunits, processors, storage devices (e.g., external or internal storagedevices, memory, etc.), communication devices (e.g., communicationdevices for wireless or wired connections), and input-output devices(e.g., screens, touchscreen displays, keyboards, keypads, etc.). Exampleelectronic/electrical devices and controller components are discussed inconnection with FIG. 2 .

The transport unit 106 can transfer the target object 112 (or multipletarget object 112) from an area associated with the transfer assembly104 to an area associated with the loading unit 108, and the loadingunit 108 can transfer the target object 112 (by, e.g., moving the palletcarrying the target object 112) to a storage location. In someembodiments, the controller 109 can coordinate operation of the transferassembly 104 and the transport unit 106 to efficiently load objects ontostorage shelves.

The robotic system 100 can include other units, such as manipulators,service robots, modular robots, etc., not shown in FIG. 1 . For example,in some embodiments, the robotic system 100 can include a de-palletizingunit for transferring the objects from cage carts or pallets ontoconveyors or other pallets, a container-switching unit for transferringthe objects from one container to another, a packaging unit for wrappingthe objects, a sorting unit for grouping objects according to one ormore characteristics thereof, another type of unit for manipulating(e.g., for sorting, grouping, and/or transferring) the objectsdifferently according to one or more characteristics thereof, or acombination thereof. Components and subsystems of the system 100 caninclude different types of and effectors. For example, unloading unit102, transport unit 106, loading unit 108, and other components of therobotic system 100 can also include robotic gripper assemblies. Theconfigurations of the robotic gripper assemblies can be selected basedon desired carrying capabilities. For illustrative purposes, the roboticsystem 100 is described in the context of a shipping center; however, itis understood that the robotic system 100 can be configured to executetasks in other environments/purposes, such as for manufacturing,assembly, packaging, healthcare, and/or other types of automation.

Robotic Systems

FIG. 2 is a block diagram illustrating components of the robotic system100 in accordance with one or more embodiments of the presenttechnology. In some embodiments, for example, the robotic system 100(e.g., at one or more of the units or assemblies and/or robots describedabove) can include electronic/electrical devices, such as one or moreprocessors 202, one or more storage devices 204, one or morecommunication devices 206, one or more input-output devices 208, one ormore actuation devices 212, one or more transport motors 214, one ormore sensors 216, or a combination thereof. The various devices can becoupled to each other via wire connections and/or wireless connections.For example, the robotic system 100 can include a bus, such as a systembus, a Peripheral Component Interconnect (PCI) bus or PCI-Express bus, aHyperTransport or industry standard architecture (ISA) bus, a smallcomputer system interface (SCSI) bus, a universal serial bus (USB), anIIC (I2C) bus, or an Institute of Electrical and Electronics Engineers(IEEE) standard 1394 bus (also referred to as “Firewire”). Also, forexample, the robotic system 100 can include bridges, adapters,controllers, or other signal-related devices for providing the wireconnections between the devices. The wireless connections can be basedon, for example, cellular communication protocols (e.g., 3G, 4G, LTE,5G, etc.), wireless local area network (LAN) protocols (e.g., wirelessfidelity (WIFI)), peer-to-peer or device-to-device communicationprotocols (e.g., Bluetooth, Near-Field communication (NFC), etc.),Internet of Things (IoT) protocols (e.g., NB-IoT, Zigbee, Z-wave, LTE-M,etc.), and/or other wireless communication protocols.

The processors 202 can include data processors (e.g., central processingunits (CPUs), special-purpose computers, and/or onboard servers)configured to execute instructions (e.g., software instructions) storedon the storage devices 204 (e.g., computer memory). The processors 202can implement the program instructions to control/interface with otherdevices, thereby causing the robotic system 100 to execute actions,tasks, and/or operations.

The storage devices 204 can include non-transitory computer-readablemediums having stored thereon program instructions (e.g., software).Some examples of the storage devices 204 can include volatile memory(e.g., cache and/or random-access memory (RAM) and/or non-volatilememory (e.g., flash memory and/or magnetic disk drives). Other examplesof the storage devices 204 can include portable memory drives and/orcloud storage devices.

In some embodiments, the storage devices 204 can be used to furtherstore and provide access to master data, processing results, and/orpredetermined data/thresholds. For example, the storage devices 204 canstore master data that includes descriptions of objects (e.g., boxes,cases, containers, and/or products) that may be manipulated by therobotic system 100. In one or more embodiments, the master data caninclude a dimension, a shape (e.g., templates for potential poses and/orcomputer-generated models for recognizing the object in differentposes), mass/weight information, a color scheme, an image,identification information (e.g., bar codes, quick response (QR) codes,logos, etc., and/or expected locations thereof), an expected mass orweight, or a combination thereof for the objects expected to bemanipulated by the robotic system 100. In some embodiments, the masterdata can include manipulation-related information regarding the objects,such as a center-of-mass (CoM) location on each of the objects, expectedsensor measurements (e.g., force, torque, pressure, and/or contactmeasurements) corresponding to one or more actions/maneuvers, or acombination thereof. The robotic system can look up pressure levels(e.g., vacuum levels, suction levels, etc.), gripping/pickup areas(e.g., areas or banks of vacuum grippers to be activated), and otherstored master data for controlling transfer robots. The storage devices204 can also store object tracking data. In some embodiments, the objecttracking data can include a log of scanned or manipulated objects. Insome embodiments, the object tracking data can include image data (e.g.,a picture, point cloud, live video feed, etc.) of the objects at one ormore locations (e.g., designated pickup or release locations and/orconveyor belts). In some embodiments, the object tracking data caninclude locations and/or orientations of the objects at the one or morelocations.

The communication devices 206 can include circuits configured tocommunicate with external or remote devices via a network. For example,the communication devices 206 can include receivers, transmitters,modulators/demodulators (modems), signal detectors, signalencoders/decoders, connector ports, network cards, etc. Thecommunication devices 206 can be configured to send, receive, and/orprocess electrical signals according to one or more communicationprotocols (e.g., the Internet Protocol (IP), wireless communicationprotocols, etc.). In some embodiments, the robotic system 100 can usethe communication devices 206 to exchange information between units ofthe robotic system 100 and/or exchange information (e.g., for reporting,data gathering, analyzing, and/or troubleshooting purposes) with systemsor devices external to the robotic system 100.

The input-output devices 208 can include user interface devicesconfigured to communicate information to and/or receive information fromhuman operators. For example, the input-output devices 208 can include adisplay 210 and/or other output devices (e.g., a speaker, a hapticscircuit, or a tactile feedback device, etc.) for communicatinginformation to the human operator. Also, the input-output devices 208can include control or receiving devices, such as a keyboard, a mouse, atouchscreen, a microphone, a user interface (UI) sensor (e.g., a camerafor receiving motion commands), a wearable input device, etc. In someembodiments, the robotic system 100 can use the input-output devices 208to interact with the human operators in executing an action, a task, anoperation, or a combination thereof.

In some embodiments, a controller (e.g., controller 109 of FIG. 1 ) caninclude the processors 202, storage devices 204, communication devices206, and/or input-output devices 208. The controller can be a standalonecomponent or part of a unit/assembly. For example, each unloading unit,a transfer assembly, a transport unit, and a loading unit of the system100 can include one or more controllers. In some embodiments, a singlecontroller can control multiple units or standalone components.

The robotic system 100 can include or be coupled to physical orstructural members (e.g., robotic manipulator arms) connected at jointsfor motion (e.g., rotational and/or translational displacements). Thestructural members and the joints can form a kinetic chain configured tomanipulate an end-effector (e.g., the gripper) configured to execute oneor more tasks (e.g., gripping, spinning, welding, etc.) depending on theuse/operation of the robotic system 100. The robotic system 100 caninclude the actuation devices 212 (e.g., motors, actuators, wires,artificial muscles, electroactive polymers, etc.) configured to drive ormanipulate (e.g., displace and/or reorient) the structural members aboutor at a corresponding joint. In some embodiments, the robotic system 100can include the transport motors 214 configured to transport thecorresponding units/chassis from place to place. For example, theactuation devices 212 and transport motors connected to or part of arobotic arm, a linear slide, or other robotic component.

The sensors 216 can be configured to obtain information used toimplement the tasks, such as for manipulating the structural membersand/or for transporting the robotic units. The sensors 216 can includedevices configured to detect or measure one or more physical propertiesof the robotic system 100 (e.g., a state, a condition, and/or a locationof one or more structural members/joints thereof) and/or for asurrounding environment. Some examples of the sensors 216 can includecontact sensors, proximity sensors, accelerometers, gyroscopes, forcesensors, strain gauges, torque sensors, position encoders, pressuresensors, vacuum sensors, etc.

In some embodiments, for example, the sensors 216 can include one ormore imaging devices 222 (e.g., 2-dimensional and/or 3-dimensionalimaging devices). configured to detect the surrounding environment. Theimaging devices can include cameras (including visual and/or infraredcameras), lidar devices, radar devices, and/or other distance-measuringor detecting devices. The imaging devices 222 can generate arepresentation of the detected environment, such as a digital imageand/or a point cloud, used for implementing machine/computer vision(e.g., for automatic inspection, robot guidance, or other roboticapplications).

Referring now to FIGS. 1 and 2 , the robotic system 100 (via, e.g., theprocessors 202) can process image data and/or the point cloud toidentify the target object 112 of FIG. 1 , the start location 114 ofFIG. 1 , the task location 116 of FIG. 1 , a pose of the target object112 of FIG. 1 , or a combination thereof. The robotic system 100 can useimage data to determine how to access and pick up objects. Images of theobjects can be analyzed to determine a pickup plan for positioning avacuum gripper assembly to grip targeted objects even though adjacentobjects may also be proximate to the gripper assembly. Imaging outputfrom onboard sensors 216 (e.g., lidar devices) and image data fromremote devices (e.g., the imaging system 160 of FIG. 1 ) can be utilizedalone or in combination. The robotic system 100 (e.g., via the variousunits) can capture and analyze an image of a designated area (e.g.,inside the truck, inside the container, or a pickup location for objectson the conveyor belt) to identify the target object 112 and the startlocation 114 thereof. Similarly, the robotic system 100 can capture andanalyze an image of another designated area (e.g., a release locationfor placing objects on the conveyor belt, a location for placing objectsinside the container, or a location on the pallet for stacking purposes)to identify the task location 116.

Also, for example, the sensors 216 of FIG. 2 can include positionsensors 224 of FIG. 2 (e.g., position encoders, potentiometers, etc.)configured to detect positions of structural members (e.g., the roboticarms and/or the end-effectors) and/or corresponding joints of therobotic system 100. The robotic system 100 can use the position sensors224 to track locations and/or orientations of the structural membersand/or the joints during execution of the task. The unloading unit,transfer unit, transport unit/assembly, and the loading unit disclosedherein can include the sensors 216.

In some embodiments, the sensors 216 can include contact sensors 226(e.g., force sensors, strain gauges, piezoresistive/piezoelectricsensors, capacitive sensors, elastoresistive sensors, and/or othertactile sensors) configured to measure a characteristic associated witha direct contact between multiple physical structures or surfaces. Thecontact sensors 226 can measure the characteristic that corresponds to agrip of the end-effector (e.g., the gripper) on the target object 112.Accordingly, the contact sensors 226 can output a contact measurementthat represents a quantified measurement (e.g., a measured force,torque, position, etc.) corresponding to physical contact, a degree ofcontact or attachment between the gripper and the target object 112, orother contact characteristics. For example, the contact measurement caninclude one or more force, pressure, or torque readings associated withforces associated with gripping the target object 112 by theend-effector.

Target Object and Gripper Assembly

FIG. 3A is a perspective view of an example target object 300 (e.g., aninstance of the target object 112) in accordance with one or moreembodiments of the present technology. The target object 300 processedby the robotic system 100 can include openable objects or packageshaving one or more fixed, moveable, or removable lids. For example, thetarget object 300, such as a shoe box, can have unfastened orfriction-based covers or lids that may open based on a pose of thetarget object 300 and/or without direct robotic manipulation on one ormore portions of the object. While the different portions of the targetobject 300 may be fixed or attached to each other, such as using tape,adhesives, or other external fasteners.

The target object 300 can have a reference or a body portion 324 and alid 322 (e.g., a fixed, hinged, removable, or movable lid or flap). Thereference portion 324 can support, surround, or house one or morecontents (e.g., shoes) therein, and the removable portion can provide acover. For example, the reference portion 324 can include abottom/support surface and one or more vertical walls, while the lid 322can include a top/cover surface and/or one or more complementary walls.

The removable portion 322 can remain unfastened or unattached to thereference portion 324. For example, the lid 322 can be a separate orindependent structure that rests and covers the reference portion 324when the target object 300 is in an upright pose as illustrated in FIG.3A. In some embodiments, a portion or an edge the lid 322 can beconnected to or integral with the reference portion 324, such as informing a hinge for the cover. Regardless of the structural connectionbetween the different portion, the inner sidewall surfaces may contacttop portions of outer surfaces on the reference portion sidewalls whenthe lid 322 covers the reference portion 324. The friction between thecontacting surfaces may provide some resistance to keep the removableportion 322 over the reference portion 324. However, the friction may beinsufficient to keep the lid 322 attached to the reference portion 324in other poses (e.g., sideways or 90° or 180° rotated poses where thelid 322 extends vertically or for an upside-down pose), especially whenthe target object 300 contains relatively heavier objects that may pushagainst the lid 322.

An object reference axis may be used to describe directions,orientations, poses, or the like from the perspective of the object. Theobject reference axis may extend along a length of the object. Some shoeboxes may have the length (shown along a y-axis of an external referencesystem) that is greater than a width (shown along an x-axis) and aheight (shown along a z-axis). The height may be defined based on arelationship between the lid 322 and the reference portion.

The robotic system can include and/or operate an end-effector configuredto manipulate the target object (e.g., shoe box). FIG. 3B is aperspective view of an end effector (e.g., the end effector 140) inaccordance with some embodiments of the present technology. The endeffector 140 can be coupled/attached to a distal end of a robotic armassembly. The robotic arm gripper assembly can position the end effector140 at or near one or more objects located at a pickup environment. Theend-effector 140 may be generally oriented and referenced with itsdistal end portions (e.g., the bottom surface) generally facing downward(e.g., generally along the real-world z-axis), such as for gripping topsurfaces of objects. However, for comparison purposes, the referenceaxes in FIG. 3B corresponds to the reference axes in FIG. 3A. Detailsregarding the manipulation of the end effector 140 and the target objectis discussed below. A tool reference axis/direction used to referencespatial relationships relative to the end effector may extend along adirection from the distal end/bottom surface toward the robotic armassembly attachment point.

Target objects can be secured against the bottom of the end effector140. In some embodiments, the gripper assembly can have addressableregions each selectively capable of drawing in air for providing avacuum grip. In some modes of operation, only addressable regionsproximate to the targeted object(s) draw in air to provide a pressuredifferential directly between the vacuum gripper device and the targetedobject(s). This allows only selected packages (e.g., targeted packages)to be pulled or otherwise secured against the gripper assembly eventhough other gripping portions of the gripper assembly 140 are adjacentto or contact other packages.

The end effector 140 can include addressable vacuum zones or regions 117a, 117 b, 117 c (collectively “vacuum regions 117”) defining a grippingzone. The description of one vacuum region 117 applies to the othervacuum regions 117 unless indicated otherwise. In some embodiments, eachvacuum region 117 can be a suction channel bank that includes componentsconnected to a vacuum source external to the end effector 140. Thevacuum regions 117 can include gripping interfaces (e.g., one or moresuction cups) against which objects can be held.

The vacuum regions 117 can draw in air to hold the package 112 and canreduce or stop drawing in air to release the package 112. The vacuumregions 117 can independently draw in air to hold packages at variouspositions. The vacuum regions 117 can include a group or bank of suctionelements through which air is drawn. The suction elements can beevenly/uniformly or unevenly spaced apart from one another and can bearranged in a desired pattern (e.g., an irregular or regular pattern).The vacuum regions 117 can have the same or different number,configurations, and/or pattern of suction elements. To carry a packagethat matches the geometry of the vacuum region 117, air can be drawnthrough each suction element of the vacuum region 117 (e.g., 117 a, 117b, and 117 c). To carry smaller packages, air can be drawn through asubset of the vacuum regions 117 (e.g., 117 b, 117 a and 117 b, 117 band 117 c), or matching the geometry of the package.

When all of the vacuum regions 117 are active, the end effector 140 canprovide a generally uniform gripping force to a target object. The endeffector 140 can be configured to hold or affix object(s) via attractiveforces, such as achieved by forming and maintaining a vacuum conditionbetween the vacuum regions 117 and the object. For example, the endeffector 140 can include one or more vacuum regions 117 configured tocontact a surface of the target object and form/retain the vacuumcondition in the spaces between the vacuum regions 117 and the surface.The vacuum condition can be created when the end effector 140 is loweredvia the robotic arm, thereby pressing the vacuum regions 117 against thesurface of the target object and pushing out or otherwise removing gasesbetween the opposing surfaces. When the robotic arm lifts the endeffector 140, a difference in pressure between the spaces inside thevacuum regions 117 and the surrounding environment can keep the targetobject attached to the vacuum regions 117. In some embodiments, theair-flow rate through the vacuum regions 117 of the end effector 140 canbe dynamically adjusted or based on the contact area between the targetobject and a contact or gripping surface of the vacuum regions 117 toensure that a sufficient grip is achieved to securely grip the targetobject. Similarly, the air-flow rate thought the vacuum regions 117 canbe adjusted dynamically to accommodate the weight of the target object,such as increasing the air flow for heavier objects, to ensure thatsufficient grip is achieved to securely grip the target object.

The vacuum regions 117 a, 117 b, and 117 c can move independently ofeach other, such as by retracting closer or extending away relative tothe bottom surface of the gripper assembly 140. Accordingly, the vacuumregions 117 a, 117 b, and 117 c may contact objects at differentlocations and/or times. For example, (as illustrated in the side viewfor the gripper assembly position 2) the suction cup(s) for the centervacuum region 117 b may extend away from the bottom surface to engagethe target object before other regions. After gripping the targetobject, the suction cup(s) for the center vacuum region 117 b may beretracted (as illustrated in gripper assembly position 1) until theobject contacts/engages the suction cups of the peripheral vacuumregions 117 a and 117 c. The peripheral vacuum regions can be engaged togrip the target object once the center region retracts. In other words,the center portion can be used to move/displace the target object arelatively small distance (e.g., away from other or adjacent objects),and the peripheral portions can be used to provide additional graspingforces once the target object is moved away from other non-targetedobjects. Accordingly, the gripper assembly 140 can reduce unintendeddouble picks (e.g., picking up an unintended/additional object alongwith the target object). The peripheral vacuum regions can be used toprovide sufficient grip to manipulate/transfer the target object.

The end effector 140 may include a stabilizer bracket 302 configured tofurther assist in manipulation/transfer of the target object, thestabilizer bracket 302 can include a support surface that extendsparallel to the tool reference axis and an alignment of the suctioncups. The support surface can be configured to contact a non-engagedportion of the target object (e.g., a peripheral surface orthogonal tothe gripped surface). In some embodiments, the end effector 140 may beconfigured to extend and/or retract the stabilizer bracket 302 along oneor more directions. For example, the end effector 140 can have thebracket 302 retracted at a rest position closest to the bottom surfaceand/or away from the body of the end effector 140 (e.g., moved along the−z direction). The rest position can be established before engaging thetarget object and/or maintained up to the initial displacement of thetarget object using the center vacuum region 117 b. The gripper assembly140 can move the bracket 302 below or past the bottom surface (e.g.,away from the robotic arm assembly) and/or toward the body of the endeffector 140 (e.g., along the −z direction) until the support surfacecontacts the grasped object. The end effector 140 may include an angledattachment arm 304. The angle of the angled attachment arm 304 may besuch that the position of the end effector 140 attached to the roboticarm is angled to keep the cover or lid of the target object closedduring transfer.

Gripping/Lifting Configurations

The robotic system can grip and lift the target objects from a sourcecontainer. After lifting, the robotic unit (e.g., the transfer robot orthe robotic arm assembly having the end effector at a distal end) cantransfer the target object to a target location (e.g., a destination).In some embodiments, the destination can correspond to a location on aconveyor. FIG. 4A illustrates a top view 400 (e.g., image data 223received from an overhead instance of the imaging device 222 of FIG. 2 )of the processing area for lifting target objects (e.g., the targetobject 300) from a source container 402, in accordance with one or moreembodiments of the present technology. For example, the top view 400shows the target objects (e.g., shoe boxes) placed in or removed from acontainer (e.g., a bin). FIG. 4B illustrates a side view 430 (e.g.,image data 223 received from a laterally-oriented instance of theimaging device 222) of the processing area for lifting target objectsfrom a source container, in accordance with one or more embodiments ofthe present technology. The container 402 and/or the objects (e.g.,target object 300) therein can be placed at an angle such that thebottom surface of the source container and/or each object form acuteangles (e.g., angle θ with corresponding horizontal reference plane. Theangular placement pose can allow the lids of the objects to stay at restabove the reference portions while allowing the end effector to approachthe objects from above (by, e.g., at least partially move downward tocontact and grip the object).

FIG. 4C illustrates a side view 460 a robotic arm assembly gripping andlifting the target object in an example grip/lift configuration, inaccordance with one or more embodiments of the present technology. Thegripper assembly can approach the target object in an angled pose thatcorresponds to the angled resting pose of the objects. For example, theend effector 140 can be positioned with the tool reference axis 462forming an angle relative to the floor for matching that of the angledresting pose (e.g., angle θ) to grip/lift a target object 300. Therobotic system can derive and implement motion plans to move the endeffector along the angled direction (e.g., downward and toward theobject) to contact and grip the target object. As described above, therobotic system can extend the suction cup(s) (e.g., vacuum region 117 bof FIG. 3B) in the center portion from position 1 to position 2 to gripthe target object. After gripping the target object, the center suctioncup(s) can be retracted. Accordingly, the gripped object can bedisplaced a relatively short distance along the tool reference axis.Once the target object is moved away from the adjacent objects, theperipheral suction cups can be engaged to further grip the targetobject. In some embodiments, the robotic system can move the suctioncups and/or the support bracket as the target object is moved out of thesource container. For example, the bracket can be extended away from thebottom surface and/or toward the target object until the support surfaceof the bracket contacts the target object (e.g., bottom surfacethereof).

The bracket can be configured to provide support for a motion referenceaxis (e.g., motion reference axis 464). The motion reference axis canrepresent a pose and/or a general movement direction for the endeffector for or during the transfer of the target object. The roboticsystem can determine the motion reference axis that is tilted or angledaway from the real-world z-axis (e.g., real-world z-axis 466). Incomparison, conventional systems and/or transfer configurations orientthe tool reference axis parallel to the z-axis. The conventionalgripping interface face a downward direction and the target object isgrasped/held below the end-effector. However, such conventional transferposes can be problematic for objects withfixed/hinged/moveable/removable lids. The gravitational forces in ageneral up and down transfer pose can cause the separate portions todisengage or move away from each other. Moreover, contents within thetarget object may shift and further cause the separate portions to moveaway from each other. To prevent the different portions of the objectfrom moving away from each other, embodiments of the robotic system candetermine and leverage the angled motion reference axis such that thetarget object is maintained at an angle with the lid above the referenceportion during the transfer.

In some embodiments, the robotic system can determine the angled motionreference axis based on a predetermined displacement angle relative tothe z-axis. In other embodiments, the robotic system can derive thedisplacement angle based on the grip location (e.g., interface footprinton the object), the weight of the object, the dimensions of the object(e.g., the length), the size and/or contact location(s) of the bracketon the object, rotational forces or torque measured by the end effectorafter gripping/lifting the object, and/or other physical traits of theend effector and/or the target object. In some embodiments, thedisplacement angle can be outside of tilt control boundaries ofconventional configurations/devices.

FIG. 5 illustrates side view of example target objects (e.g., targetobjects 500 and 501) with a grip location (e.g., grip location 502 and504) with respect to contact between the gripper and the targetobject(s), in accordance with one or more embodiments of the presenttechnology. The robotic system can be configured to grip the referenceportion 324 of the object. In determining the grip location 502, therobotic system can place a mask over the lid 322 (e.g., cover) in thereceived image (e.g., the top view 400) of the target object.Accordingly, the robotic system can consider/process only the referenceportion.

In some embodiments, the robotic system can determine the grip location502 below (e.g., away from the separation direction) the center of masslocation or an estimate thereof to minimize torque applied on the gripinterface. Additionally or alternatively, the robotic system candetermine the grip location at a distance away from the bottom surfaceof the object, where the distance matches a separation distance betweenthe suction cups and the contact surface of the bracket. In otherembodiments, the robotic system can be configured to determine the griplocation closest to the lid. In a first example, target object 500 has agrip location 502 at, above, or below the center of mass of the targetobject 500. In a second example, target object 501 has a grip locationoffset (e.g., side of) from the center of mass of the target object 501.In some embodiments, the robotic system determines the grip locationbased on the shape of the lid of the target object. For example, thegrip location on the target objects 500 and 501 are different due to thedifferent lids/covers of target objects 500 and 501.

FIG. 6 illustrates a perspective view of the robotic arm assemblygripping and lifting the target object in an example grip/liftconfiguration, in accordance with one or more embodiments of the presenttechnology. The robotic system 100 of FIG. 1 can grip and lift thetarget objects 300 from the source container 402. After lifting, therobotic unit (e.g., the transfer robot or the robotic arm assemblyhaving the end effector 140 at a distal end) can transfer the targetobject 300 to the target location 116 (e.g., a destination). In someembodiments, the destination can correspond to a location on a conveyor,another bin, a pallet, or the like.

Operational Flow

FIG. 7 is a flow diagram of a method 700 for operating a robotic system(e.g., the robotic system 100 of FIG. 1 or a portion thereof) inaccordance with one or more embodiments of the present disclosure. Ingeneral, the robotic system (via, e.g., the controller of FIG. 1 , thecommunication device 206 of FIG. 2 and/or the image device 222 of FIG. 2) can receive image data (e.g., the top view 300 of FIG. 3 )representative of at least a portion of a pickup environment asillustrated at block 701. The robot system can identify target objects(e.g., the target objects 300 of FIG. 3A) based on the received imagedata.

The robotic system can receive the image data representative of at leasta portion of an environment. For example, the received image data candepict objects in a container. The image data can include, withoutlimitation, video, still images, lidar data, radar data, objectidentification data, bar code data, or combinations thereof. In someembodiments, for example, the sensors can capture video or still imagesthat are transmitted (e.g., via a wired or wireless connection) to acomputer or controller, such as the controller 109.

At block 702, the robotic system or a portion thereof (e.g., thecontroller 109, the processor 202, etc.) can analyze image data toidentify target objects in a group of objects, a container of objects, astack of objects, etc. For example, the controller can identifyindividual objects based on the received image data. The controller canidentify visual markers/designs and/or identifying information (e.g.,bar codes, quick response (QR) codes, logos, etc., and/or expectedlocations thereof) on the container or objects. The identifyinginformation and the visual markers can indicate other characteristics ofthe object, such as the dimensions and weight of the objects asregistered in the master data. The robotic system can further determine,such as using the master data or a shipping manifest, that theidentified target object has one or more fixed, hinged, moveable, orremovable lids or flaps, such as for a shoebox having unfastened orpartially connected covers/lids that may open based on a pose of theobject and/or without direct robotic manipulation on the lid.

In some embodiments, information from the release location is used toselect the target object. For example, the robotic system can select atarget object based on the packing order, the object location within thecontainer, the amount of available space at the release location, thepreferred stacking arrangement, etc. A user can input selection criteriafor determining the order of object pick up. In some embodiments, amapping of the pickup environment can be generated based on the receivedimage data. In some mapping protocols, edge detection algorithms areused to identify edges of objects, surfaces, etc. The robotic system cananalyze the mapping to determine which objects at the pickup region arecapable of being transported together.

The robotic system can select the target object from source objects asthe target of a task to be performed. For example, the robotic systemcan select the target object to be picked up according to apredetermined sequence, set of rules, templates of object outlines, or acombination thereof. As a specific example, the robotic system canselect the target package as an instance of the source packages that areaccessible to the end effector (e.g., end effector 140), such as aninstances of the source packages located in a container (e.g., sourcecontainer 402) of packages, according to the point cloud/depth maprepresenting the distances and positions relative to a known location ofthe image devices. In an example, the robotic system can select thetarget object according to a predetermined pattern, such as left toright or nearest to furthest relative to a reference location, withoutor minimally disturbing or displacing other instances of the sourcepackages.

At block 704, the controller (e.g., controller 109 of FIG. 1 ) canidentify dimensions of the target objects and the dimension of thecontainer. The controller can identify the dimensions of the targetobjects and the dimension of the container by scanning/reading an objectidentifier (e.g., bar code, QR code, etc.) on the target objects and/orcontainer. Based on the dimensions of the target object (e.g., thelocation/orientation of the fixed, hinged, moveable, or removable lidsor flaps of the object), the controller can determine whether the centervacuum region 117 b and/or peripheral vacuum regions 117 a/c can fitwithin the reference portion 324 and/or an operating sequence of thevacuum regions to use to lift and transfer the object.

At block 706, the controller can determine the grip locations of thevacuum grippers or regions for gripping the target object. For example,the controller 109 can select the vacuum region 117 b for gripping thepackage 112 because the entire package 112 (e.g., target object) can besupported by the vacuum region 117 b. A vacuum to be drawn throughsubstantially all of the suction elements (e.g., at least 90%, 95%, 98%of the suction elements) of the vacuum region 117 b of FIG. 3B. Thecontroller 109 can select the engagement sequence of vacuum grips basedon the dimensions of the target object. In an example, the grip location(e.g., the grip location 502 or 504 of FIG. 5 ) is located on thereference portion 324 of the target object without contacting oroverlapping the moveable portion 322 (e.g., lid). The controller 109 candetermine the grip locations based on the center of mass (COM) location(e.g., below the COM to adjust torque experienced by the gripper) and/orthe boundary between the different portions of the objects (e.g., asclosest to the lid and/or as high as possible on the reference portion).

At block 708, the controller can generate or derive one or more commandsfor controlling the robotic system (e.g., the robotic unit, such as therobotic arm assembly) and transferring objects. In some modes ofoperation, the commands can correspond to the motion plan. For example,the controller can generate one or more commands for positioning thegripper, extend one or more sections of suction cup(s), and/or cause avacuum source to provide a vacuum at a selected vacuum level, therebygrasping the target object 300. The vacuum level can be selected basedon the weight or mass of the target object(s), tasks to be performed,etc. Commands can be sent to the gripper assembly to cause a manifold tooperate to provide suction at the selected regions or grippers. Thecontroller generates a command to cause actuation devices (e.g.,actuation devices 212), motors, servos, actuators, and other componentsof the robotic arm to move the gripper assembly. The robotic system cangenerate transfer commands to cause the robotic transport arm torobotically move the gripper assembly carrying the objects betweenlocations. The robotic system can generate the transport commands basedon a motion plan that corresponds to a transport path to deliver theobject to a release location without causing the object to strikeanother object.

The generated commands can be for operating and/or controlling the robotarm and/or the gripper to approach the target object in an angled posethat corresponds to the angled resting pose of the objects. In otherwords, the gripper can be positioned with the tool reference axisforming an angle matching that of the angled resting pose of the targetobject. The robotic system can derive and implement motion plans to movethe end effector along the angled direction (e.g., downward and towardthe object) to contact and grip the target object. As described above,the robotic system can extend the suction cup(s) (e.g., vacuum region117 b of FIG. 3B) in the center portion from position 1 to position 2 togrip the target object. After gripping the target object, the centersuction cup(s) can be retracted. Accordingly, the gripped object can bedisplaced a relatively short distance along the tool reference axis andcloser to the bottom/gripping interface of the end effector. Once thetarget object is moved away from the adjacent objects, the peripheralsuction cups can be engaged to further grip the target object. In someembodiments, the robotic system can move the suction cups and/or thesupport bracket as the target object is moved out of the sourcecontainer. For example, the bracket can be extended away from the bottomsurface and/or toward the target object until the support surface of thebracket contacts the target object (e.g., bottom surface thereof).

The bracket can be configured to provide support for a motion referenceaxis. The motion reference axis can represent a pose and/or a generalmovement direction for the end effector for or during the transfer ofthe target object. The robotic system can determine the motion referenceaxis that is tilted or angled away from the real-world z-axis. Therobotic system can determine and use the angled motion reference axissuch that the target object is maintained at an angle with the lid abovethe reference portion during the transfer.

At block 710, the controller can engage the vacuum grippers to transferthe target object, such as by implementing a corresponding portion ofthe motion plan/commands. The end effector can be configured to grip thetarget package or object from among the source packages or objects. Forexample, the robotic system 100 can generate instructions for the endeffector 140 to engage multiple instances of the vacuum regions 117 toperform the gripping operation to simultaneously grip multiple griplocations of the target object and withdraw the object from a container.As a specific example, the end effector 140 can be used to performinstructions for the gripping operation of gripping the target objectand in sequence, one after the other.

At block 712, the robotic system 100 can transfer the target object to adestination or target location, such as by implementing a subsequentportion of the motion plan/commands after grasping the target object.The robotic system can transfer the target object with an angled carry(according to the angled motion reference axis discussed above) toprevent the fixed, hinged, moveable, or removable lid of the targetobject from opening during the transfer.

At block 714, the controller can disengage the vacuum grippers,according to a release sequence of the motion plan/commands, to releasethe target object at the target location (e.g., conveyor belt). At block716, the robotic system can transfer the container to a target location,similar to transferring the target object to the location. For example,when the objects are removed from the container and the container isempty, the robotic system transfers the container to the targetlocation.

CONCLUSION

The above Detailed Description of examples of the disclosed technologyis not intended to be exhaustive or to limit the disclosed technology tothe precise form disclosed above. While specific examples for thedisclosed technology are described above for illustrative purposes,various equivalent modifications are possible within the scope of thedisclosed technology, as those skilled in the relevant art willrecognize. For example, while processes or blocks are presented in agiven order, alternative implementations may perform routines havingsteps, or employ systems having blocks, in a different order, and someprocesses or blocks may be deleted, moved, added, subdivided, combined,and/or modified to provide alternative or sub-combinations. Each ofthese processes or blocks may be implemented in a variety of differentways. Also, while processes or blocks are at times shown as beingperformed in series, these processes or blocks may instead be performedor implemented in parallel, or may be performed at different times.Further, any specific numbers noted herein are only examples;alternative implementations may employ differing values or ranges.

These and other changes can be made to the disclosed technology in lightof the above Detailed Description. While the Detailed Descriptiondescribes certain examples of the disclosed technology as well as thebest mode contemplated, the disclosed technology can be practiced inmany ways, no matter how detailed the above description appears in text.Details of the system may vary considerably in its specificimplementation, while still being encompassed by the technologydisclosed herein. As noted above, particular terminology used whendescribing certain features or aspects of the disclosed technologyshould not be taken to imply that the terminology is being redefinedherein to be restricted to any specific characteristics, features, oraspects of the disclosed technology with which that terminology isassociated. Accordingly, the invention is not limited, except as by theappended claims. In general, the terms used in the following claimsshould not be construed to limit the disclosed technology to thespecific examples disclosed in the specification, unless the aboveDetailed Description section explicitly defines such terms.

Although certain aspects of the invention are presented below in certainclaim forms, the applicant contemplates the various aspects of theinvention in any number of claim forms. Accordingly, the applicantreserves the right to pursue additional claims after filing thisapplication to pursue such additional claim forms, in either thisapplication or in a continuing application.

What is claimed is:
 1. A robotic system comprising: a controller coupledto the robotic gripper assembly, the controller configured to:determine, based on dimensions of a target object having one or morelids, a grip location on the target object for engagement by a roboticgripper assembly, wherein the gripper assembly includes: a first gripperportion configured to grasp the target object at the grip location, asecond gripper portion adjacent to the first gripper portion, wherein:the first gripper portion is individually extendable, relative to thesecond gripper portion, to initially grasp the target object and retractwith the target object, and the second gripper portion is configured tograsp the target object after initial grasp and retraction of the firstgripper portion; determine a reference axis for aligning the roboticgripper assembly with the target object for engaging the one or moregrippers of the robotic gripper assembly; derive a motion plan foroperating the robotic gripper assembly to: align the robotic gripperassembly with the target object based on the reference axis; contact thetarget object at the grip location with the first and/or the secondgripper portions; and provide a gripping force through the first and/orthe second gripper portions to grip the target object at the griplocation.
 2. The robotic system of claim 1, wherein the controller isfurther configured to derive the motion plan for operating the roboticgripper assembly to: transfer the target object to a target locationwithout opening the one or more lids of the target object.
 3. Therobotic system of claim 1, wherein the controller is further configuredto: receive image data representative of at least a portion of a pickupenvironment; identify one or more target objects in a container in thepickup environment; and identify dimensions of the one or more targetobjects and the container.
 4. The robotic system of claim 1, wherein thecontroller is configured to derive the motion plan for further operatingthe robotic gripper assembly to: derive a release pose for releasing thetarget object at a target location; and disengage the gripping force ofthe one or more grippers of the robotic gripper assembly according tothe release pose.
 5. The robotic system of claim 1, wherein thecontroller is further configured to derive the motion plan based on:deriving, based on the dimensions, an engagement sequence of attachingthe one or more grippers of the robotic gripper assembly to the targetobject.
 6. The robotic system of claim 1, wherein the robotic system isfurther configured to: derive a set of commands corresponding to themotion plan for operating the robotic gripper assembly to transfer thetarget object from a start location to a target location.
 7. The roboticsystem of claim 1, wherein the robotic gripper assembly further includesa stabilizer bracket attached that is configured to contact and supportthe grasped target object.
 8. A robotic system comprising: a roboticarm; an end effector kinetically coupled to the robotic arm, the endeffector including: a first gripper portion at a bottom portion of theend effector and configured to grasp a surface of a target object; asecond gripper portion at the bottom portion and configured to grasp thesurface of the target object, wherein the second gripper portion isoperable independently from the first gripper portion; a stabilizerbracket adjacent to the first and second grippers and extending along adirection extending from a top portion of the end effector to the bottomportion, the stabilizer bracket configured to contact the target objectthat has been grasped by at least the first gripper portion and providea support force on the grasped target object; one or more processorsoperably coupled to the robotic arm and the end effector; and one ormore memories storing instructions that, when executed by the one ormore processors, cause the robotic system to perform a processincluding: determining, based on dimensions of the target object havingone or more lids, a grip location on the target object for engagement byat least the first gripper portion to the target object; determining areference axis for aligning the end effector with the target object forengaging the one or more grippers of the end effector; aligning the endeffector with the target object based on the reference axis; contactingthe target object at the grip location with at least the first gripperportion; and providing a gripping force through the first and/or thesecond gripper portions of the end effector to grip the target object.9. The robotic system according to claim 8, wherein the process furthercomprises: transferring the target object to a target location accordingto the reference axis to maintain an angled pose of the target objectthat maintains the one or more lids of the target object stable relativeto a reference portion of the target object.
 10. The robotic systemaccording to claim 9, wherein the process further comprises: receivingimage data representative of at least a portion of a pickup environment;identifying one or more target objects in a container in the pickupenvironment; and identifying dimensions of the one or more targetobjects and the container, wherein the grip location is determinedwithin the reference portion based on the dimensions, a location of theone or more lids relative to the reference portion, a center of masslocation for the target object, or a combination thereof.
 11. Therobotic system according to claim 8, wherein the process furthercomprises: deriving a release pose for releasing the target object at atarget location; and disengaging the gripping force of the one or moregrippers of the end effector according to the release pose.
 12. Therobotic system according to claim 8, wherein the process furthercomprises: deriving, based on the dimensions, an engagement sequence ofattaching the one or more grippers of the end effector to the targetobject, wherein the engagement sequence includes: extending the firstgripper portion toward the target object; gripping the target objectusing the first gripper portion; retracting the first gripper portionalong with the grasped target object; and engaging the second gripperportion to further grip the target object after retracting the firstgripper portion.
 13. The robotic system according to claim 9, whereinthe process further comprises: adjusting a pose of the stabilizerbracket to contact and support the grasped target object after engagingthe second gripper portion.
 14. A method of operating a robotic system,the method comprising: determining, based on dimensions of a targetobject having one or more lids, a grip location on the target object forengagement by at least a first gripper portion of an end effector to thetarget object; determining a reference axis for aligning the endeffector with the target object for engaging one or more grippers of theend effector; aligning the end effector with the target object based onthe reference axis; contacting the target object at the grip locationwith at least the first gripper portion; and providing a gripping forcethrough the first gripper portion and/or a second gripper portion of theend effector to grip the target object.
 15. The method of claim 14,further comprising: transferring the target object to a target locationaccording to the reference axis to maintain an angled pose of the targetobject that maintains the one or more lids of the target object stablerelative to a reference portion of the target object.
 16. The method ofclaim 15, further comprising: receiving image data representative of atleast a portion of a pickup environment; identifying one or more targetobjects in a container in the pickup environment; and identifyingdimensions of the one or more target objects and the container, whereinthe grip location is determined within the reference portion based onthe dimensions, a location of the one or more lids relative to thereference portion, a center of mass location for the target object, or acombination thereof.
 17. The method of claim 14, further comprising:deriving a release pose for releasing the target object at a targetlocation; and disengaging the gripping force of the one or more grippersof the end effector according to the release pose.
 18. The method ofclaim 14, further comprising: deriving, based on the dimensions, anengagement sequence of attaching the one or more grippers of the endeffector to the target object, wherein the engagement sequence includes:extending the first gripper portion toward the target object; grippingthe target object using the first gripper portion; retracting the firstgripper portion along with the grasped target object; and engaging thesecond gripper portion to further grip the target object afterretracting the first gripper portion.
 19. The method of claim 14,further comprising: adjusting a pose of a stabilizer bracket to contactand support the grasped target object after engaging the second gripperportion.
 20. The method of claim 14, wherein a stabilizer bracketattached to the end effector provides support to the gripping force ofthe one or more grippers.